Application of robotic welding systems for wire and arc additive manufacturing

U ovom radu opisan je postupak aditivne proizvodnje električnim lukom i žicom te su analizirani problemi vezani uz taj postupak. Navedena su osnovna načela MIG/MAG i TIG postupaka zavarivanja te je analizirana mogućnost njihove robotizacije. Nadalje, obrađeno je područje robotike, načini programiranja i karakteristike robota te su detaljno navedene značajke robota OTC Almega AX–V6. Uz to, opisana je korištena robotska stanica Fakulteta strojarstva i brodogradnje. U eksperimentalnom dijelu rada definirana je putanja gibanja robota pri aditivnoj proizvodnji električnim lukom i žicom uz periodičku izmjenu postupaka zavarivanja nakon svakog nanesenog sloja. Na kraju rada ocjenjena je primjenljivost takvog programa za aditivnu proizvodnju električnim lukom i žicom.This thesis deals with procedure of Wire and Arc Additive Manufacturing and analyses problems associated to this. An overview of the basic principles of the MIG/MAG and TIG welding procedures are cited and the possibility of their robotization is discussed. Furthermore, the field of robotics, methods of programming, and robot characteristics are processed and the features of OTC Almega AX-V6 robots are detailed. In addition, robotic welding system at the Faculty of Mechanical Engineering and Naval Architecture is described. Experimental part describes the robot motion trajectory used for Wire and Arc Additive Manufacturing with a periodic change of the welding processes after each layer being applied. Finally, the applicability of such program for Wire and Arc Additive Manufacturing is assessed